EP3036885B1 - Génération itérative de paquets de données dans un réseau car2x - Google Patents

Génération itérative de paquets de données dans un réseau car2x Download PDF

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Publication number
EP3036885B1
EP3036885B1 EP14755080.0A EP14755080A EP3036885B1 EP 3036885 B1 EP3036885 B1 EP 3036885B1 EP 14755080 A EP14755080 A EP 14755080A EP 3036885 B1 EP3036885 B1 EP 3036885B1
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EP
European Patent Office
Prior art keywords
data packet
message
information
vehicle
car2x
Prior art date
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EP14755080.0A
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German (de)
English (en)
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EP3036885A1 (fr
Inventor
Thomas Grotendorst
Marc Menzel
Richard Scherping
Ulrich STÄHLIN
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Continental Teves AG and Co OHG
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Continental Teves AG and Co OHG
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/12—Protocol engines
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/407—Bus networks with decentralised control
    • H04L12/417—Bus networks with decentralised control with deterministic access, e.g. token passing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/005—Moving wireless networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks

Definitions

  • the invention relates to a method for generating a data packet to be transmitted in a vehicle ad hoc network with a message to be transmitted in the vehicle ad hoc network, a device for carrying out the method and a transmitter with the device.
  • Car2X ad hoc mobile network
  • nodes are certain road users such as vehicles or other objects in the traffic, such as traffic lights.
  • road users participating in the Car2X network can be provided with information about road traffic conditions such as accidents, traffic jams, dangerous situations, etc.
  • WO 2013/102575 A1 a method for detecting redundantly received information is described, which helps to avoid unnecessarily redundant processing of information redundantly received by means of vehicle-to-X communication.
  • received information is entered before processing in an information table and compared with each other.
  • the specified method is based on the consideration that the message to be transmitted in the vehicle ad hoc network is packaged in the data packet in order to carry out its exchange in the vehicle ad hoc network with other subscribers robustly with implementation-independent data structures.
  • the generation of a data packet from a message to be sent is, however, usually computationally intensive, which makes the provision of appropriate computing resources necessary.
  • the specified method starts with the consideration of not recreating the entire data packet, but of changing in an already existing data packet only the sections in which information has actually changed. At first glance, this is counterproductive in terms of the intention to reduce the computational resources to be provided, because the analysis of an existing data packet and the comparison with a data packet to be re-coded, in turn, also require a computational effort that should not be underestimated.
  • the previously mentioned finding comes into play, that inherent in a vehicle ad hoc network a lot of data packets have to be sent, all of which are similar in content, because the basic information to be transmitted - that is to say attention to one's own existence - remains constant, but the participants who are to be informed with this information constantly change.
  • the specified method in particular in a vehicle ad hoc network, has a particularly compre- hensive computing resource-saving effect and also helps to create data packets more quickly.
  • the determination of the differences between the message to be packed and the message already packed could also be determined in advance in advance, so that a correspondingly necessary comparison step can likewise be omitted in the operation of the specified method.
  • the packed message and the message to be transmitted for the qualification of information contain information variables which are arranged in the data packet in a predetermined structure and which qualify the information with information values. That is, the data packet itself has a predetermined data structure in which the information in the data packet must be assembled. This data structure is defined and therefore does not change.
  • the advantage of this data structure is that the positions of the information to be transmitted with the message to be transmitted is known in advance, and that the manipulations on the already existing data packet for installation of the updated information to be sent can be carried out selectively at predetermined locations in this data structure, without that the existing data package itself must be completely decrypted.
  • the section to be exchanged in the already existing data packet should comprise information variables at which the information values of the message to be transmitted differ with the information values of the already packed message. Then, when the new data packet is created in the already existing data packet, the information values at which the message to be transmitted differs from the ready-packed message can be updated.
  • the specified method comprises the step of exchanging the specific section in the existing data packet based on the information values of the message of the information variable to be transmitted in the section to be exchanged. In this way, the information values can be easily updated.
  • the information values of the message to be transmitted of the information variables in the section to be exchanged can be encoded in a specific development of the specified method for exchanging the specific section in the existing data packet based on a predetermined rule.
  • the coding can be carried out in this case in order to reduce the number of bytes required for transmitting the information value and to achieve an implementation-independent standard.
  • the particular section in the existing data packet is exchanged only when the predetermined section satisfies a predetermined condition.
  • the predetermined condition may be dependent on the information qualified with the information variable. This development is based on the consideration that certain changes in the message to be sent to the message that is packed in the already existing data package on indicate fundamental changes that indicate a correspondingly low level of redundancy between the two messages. For example, such a change could indicate a change in the above version number of the protocol being used.
  • the specified method comprises the step of packing the entire message to be transmitted to the data packet to be transmitted if the predetermined section does not satisfy the predetermined condition.
  • an apparatus is arranged to carry out a method according to one of the preceding claims.
  • the invention relates to a network protocol for a in Fig. 3 shown vehicle ad hoc network, which is referred to below as Car2X network 1 for simplicity.
  • Car2X network 1 for simplicity.
  • FIG. 1 shows a schematic diagram of a driving on a road 2 vehicle 3.
  • a pedestrian overpass 4 is to be located on the street 2, is controlled by a traffic light 5, whether the vehicle 4 on the street 2 may cross the pedestrian overpass 4 or a pedestrian not shown on the pedestrian overpass 4 the street. 2
  • a direction of travel 7 in front of the vehicle 3 is in Fig. 1 another vehicle 8 is shown, which is involved in a traffic accident 10 with a vehicle 9 shown in dots and dots on the pedestrian overpass 4 and blocks the lane in the direction of travel 7 of the vehicle 3.
  • the pedestrian overpass 4 and the traffic accident 10 represent dangerous situations on the road 2. If the driver of the vehicle 3 overlooks the pedestrian overpass 4 and does not stop in front of it, he could detect a pedestrian crossing 4 crossing pedestrians who cross the pedestrian overpass 4 on the compliant behavior of the driver of the vehicle 3 trusts. In both dangerous situations, the driver of the vehicle 3 must stop the vehicle 3 in order to avoid a collision with the danger object in the dangerous situation, ie the pedestrian and / or the further vehicle 8.
  • the Car2X network 1 can be used, which will be discussed in more detail later.
  • the vehicle 3 has a receiver 11 for a global navigation satellite system, hereinafter referred to as GNSS receiver 11, via which the vehicle 3 determines position data in the form of its absolute geographical position 12 in a manner known per se, for example in the context of a navigation system 13 to display them on a non-illustrated geographical maps.
  • Corresponding signals 14 of the Global Navigation Satellite System, hereinafter referred to as GNSS signals 14, can be received, for example, via a corresponding GNSS antenna 15 and forwarded to the GNSS receiver 11 in a manner known per se.
  • the vehicle further comprises, in the present embodiment, a transceiver 16 via which the vehicle 3 participates as a node on the Car2X network 1 and with other nodes, such as the further vehicle 8 and / or the traffic light 5, messages referred to below as Car2X messages 17 can exchange.
  • This transceiver 16 is to be referred to as the demarcation with respect to the GNSS receiver 11 Car2X transceiver 16 below.
  • the individual nodes 3, 5, 8 can exchange descriptive data with one another with which, for example, traffic safety on the road 2 can be increased.
  • An example of the information that can be exchanged with the data in the Car2X messages 17 would be the absolute geographical location 12 of the respective node 3, 5, 8 of the Car2X network 1 determined via the GNSS receiver 11. Such data may be Also referred to as position data. If the geographic location 12 receiving node 3, 5, 8 of the Car2X network 1 is a vehicle, such as the not involved in the traffic accident 10 vehicle 3 and involved in the accident 10 vehicle 8 then the received over the Car2X network 1 geographic Location 12, for example, on the navigation system 13 of the receiving vehicle 3, 8 for example the traffic movement are used.
  • the traffic accident 10 is also described as information with the data in the Car2X message 17, then certain traffic situations, such as, for example, the traffic accident 10 on the navigation system 13, can be represented more concretely. Further possible interchangeable information with the Car2X News 17 will be provided later in the course of the Fig. 2 discussed in more detail.
  • the Car2X transceiver 16 either modulates a Car2X message 17 on a transmission signal referred to below as Car2X signal 18 and sends it via an antenna referred to below as Car2X antenna 19 to the other nodes 3, 5, 8 in FIG Car2X network 1 or he receives via the Car2X antenna 19, a Car2X signal 18 and filters out of this the corresponding Car2X message 17 out. It will be referred to later in the context of Fig. 3 discussed in more detail.
  • the Car2X Transciever 16 outputs a Car2X message 17 to the navigation system 13 on the assumption that it contains in the manner described above information that can be displayed on this. This is not to be understood as limiting.
  • the GNSS receiver 11 can also be used directly or, as in FIG Fig. 2 shown to be indirectly connected to the Car2X transceiver 16 to send its own absolute geographic location 12 in the Car2X network 1.
  • the structure of the Car2X message 17 and the Car2X signal 18 and thus the structure of the Car2X network can be defined in a communication protocol.
  • communication protocols country-specific among others in the context of the ETSI TC ITS at ETSI in Europe and under the IEEE 1609 at IEEE and SAE in the United States of America. Further information can be found in the mentioned specifications.
  • the vehicle 3 may optionally also have the above-mentioned environmental sensor system in the form of a camera 20 and a radar sensor 21 respectively.
  • the vehicle 3 can take an image of a view within an image angle 22, which is viewed in the direction of travel 7 of the vehicle 3 in front of the vehicle 3.
  • the vehicle 3 with the radar sensor 21 and corresponding radar beams 23 seen in the direction of travel 7 of the vehicle 3 can recognize objects and determine the distance to the vehicle 3 in a manner known per se.
  • the vehicle 3 has various safety components of which in Fig. 2 an electronic brake assist 24, called EBA 24, and a per se known vehicle dynamics control 25 is shown.
  • EBA 24 an electronic brake assist 24, called EBA 24, and a per se known vehicle dynamics control 25 is shown.
  • DE 10 2004 030 994 A1 Details on the EBA 24 can be taken from the DE 10 2011 080 789 A1 Details on the vehicle dynamics control 25 are taken.
  • the vehicle 3 includes a chassis 26 and four wheels 27. Each wheel 27 may be slowed down relative to the chassis 26 by a brake 28 fixed to the chassis 26 to slow movement of the vehicle 3 on the road 2.
  • a controller 31 may determine in a manner known to those skilled in the art whether the vehicle 3 is slipping on the road or even from the above deviates predetermined trajectory and react accordingly with a known per se controller output signal 32.
  • the regulator output signal 32 may then be used by an actuator 33 to control actuators, such as the brakes 28, to respond to slippage and deviation from the given trajectory in a manner known per se by means of actuating signals.
  • the EBA 24 can evaluate image data 35 acquired via the camera 20 and distance data 36 acquired via the radar sensor 21 for objects such as vehicles in the direction of travel 7 in front of the vehicle 3 and detect a dangerous situation based thereon. This could be given, for example, when an object in front of the vehicle 3 approaches it at too high a speed. In such a case, the EBA 24 could instruct the control device 33 via an emergency brake signal 37 to execute emergency braking with the brakes 28 via the control signals 34.
  • the adjusting device 33 in a Fig. 2 output punctuated report signal 38.
  • the report signal 38 should specify whether the intervention was due to the EBA 24 or the vehicle dynamics control 25.
  • Such a report signal 38 can be generated by any instance in the vehicle 3, that is, for example, by the controller 31 of the vehicle dynamics control 25.
  • a message generator 39 could then be based on the report signal 38, the absolute geographic location 12 and an in Figure 3 shown from a timer 40 timestamp 41 generate a Car2X message 17, with the intervention of the EBA 24 and / or the vehicle dynamics control 25 as information about the Car2X network 1 the other nodes 5, 8 can be reported.
  • the Car2X message 17 thus generated could then be sent via the Car2X antenna 19 in the Car2X network 1.
  • the information exchanged in the Car2X messages 17 about the absolute geographical position 12 of the individual nodes 3, 5, 8 and / or about events such as the traffic accident 10 and / or as an intervention of the EBA 24 and / or the vehicle dynamics control 25 could be displayed on the navigation system 13 for the orientation of the driver.
  • the message generator 39 generates the Car2X message 17 according to the above-mentioned communication protocol based on the report signal 38, the absolute geographical location 12 and the time stamp 41.
  • the message generator 39 can also be part of the Car2X transceiver 16.
  • data packets 43 are generated in the Car2X transceiver 16 of the accident vehicle 8 in a data packet generation device 42.
  • the data packet generator 42 corresponds Therefore, a network and transport layer (known as network and transport layer), whose task is known to route the network data from different applications.
  • the structure of the data packet generator 42 depends on the above-mentioned specification of the communication protocol for the Car2X network 1.
  • the generated data packets 43 are modulated onto the Car2X signal 18 in a modulation device 44 and sent wirelessly in the Car2X network 1.
  • the modulation device 44 therefore corresponds to an interface layer whose task is to connect the accident vehicle 8 physically to the Car2X network 1.
  • the structure of the modulation device 44 is also dependent on the above-mentioned specification of the communication protocol for the Car2X network 1.
  • the Car2X signal 18 sent by the accident vehicle 8 can then be received via the Car2X antenna 19.
  • the Car2X transceiver 16 of the vehicle 3 has a demodulation device 45, which reverses the transmitter-side modulation of the data packets 43 in a manner known per se. Accordingly, a message extraction device 46 can extract the Car2X messages 17 from the data packets 43 and make them available to the applications in the vehicle 3, such as the navigation system 13 or the setting device 33.
  • the demodulator 45 and the message extractor 46 are the receiving-side counterparts corresponding to the above-mentioned network and transport layer and the interface layer, and are also dependent on the above-mentioned specification of the communication protocol for the Car2X network 1.
  • the generation of the data packets 43 in the data packet generation device 42 should be as efficient as possible.
  • Fig. 4 Consider a possible scenario in which data packets 43 are sent in the Car2X network 1.
  • Fig. 4 For this purpose, three assumed successive data packets 43 are shown, which are to contain a specific type of Car2X messages and, in a possible scenario, can be sent on the road 2 in the Car2X network 1.
  • Car2X messages 17 As part of the ETSI reference architecture for Car2X networks, various types of Car2X messages 17 have already been defined. One of these types are so-called Cooperative Awareness Messages, called CAM for short, and defined in ETSI EN 302 637-2 (Specification of Cooperative Awareness Basic Service). With a Car2X message 17 in the form of a CAM, a node 3, 5, 8 in the Car2X network 1 can draw attention to themselves in a standardized manner and transmit certain information about its status. With a Car2X message 17 in the form of a CAM, a number of complex information about the state of the vehicle can be exchanged, which, however, contribute nothing to the understanding of the present exemplary embodiment. In addition, the message format is defined, which is why a detailed explanation below should be omitted.
  • DENM Decentralized Environmental Notification Message
  • the Car2X messages 17 contained in the data packets 43 are intended to be simplified CAM messages in which the accident vehicle 8 can send out a so-called vehicle identification 47, its geographical position 12, the time stamp 41 for indicating the topicality of the transmitted information and warnings, with which the Report signal 38 on the engagement of the actuator 33 in the accident vehicle 8 the other nodes 3, 5 of the Car2X network can be reported.
  • data packets 43 is to be assumed that the first data packet 43, in which no dotted filling is indicated, as well as this data packet 43 following data packet 43 are sent to a time before the accident 10.
  • the last data packet 43 is to be sent out after the accident 10.
  • the accident vehicle 8 transmits the data packets 43 with the Car2X message 17 contained therein, based on an in Fig. 5 indicated trigger signal 48 off.
  • the trigger signal 48 can initiate the transmission of the Car2X messages 17, for example, at regular intervals.
  • the information to be transmitted with the Car2X messages 17 contained therein is represented as quadrilaterals, each quadrilater representing an information variable 49 with which a specific one of the above-mentioned information to be distributed in the Car2X network 1 can be qualified.
  • Each information variable may be declared with an information value 12, 38, 41, 47 in order to quantify the information to be distributed with the Car2X message 17.
  • the individual information values 12, 38, 41, 47 are not necessarily numerical values but can also be bytes, strings or the like.
  • Fig. 4 For example, some of the information variables 49 in the data packets 43 are dotted, indicating that their information value has changed compared to a data packet 43 sent immediately before.
  • a Car2X message 17 describing a vehicle state such as the CAMs mentioned above, only the information values which quantify the position of the transmitting node and / or the time generally change. In the best case, even the position of the emitting node remain constant, for example, if one of the vehicles 3, 8 of the Fig. 1 at one of the traffic lights 5 the Fig. 1 stop.
  • Other information values, such as the vehicle identification 47 and / or the report signal 38 remain constant as a rule.
  • the current information states 50 of the individual information sources, ie sensors, memory, ... have to be retrieved for declaring the information variables 49 and combined with the data packet generation device 42 to form the data packet 43 to be created.
  • the vehicle identification 47 for example, comparatively rarely until never changes, it is always redundantly mitverarbeitet in the creation of the data packet 43 in the data packet generator 42 and thus takes corresponding computing resources unnecessarily.
  • the specified embodiment attacks with the proposal, with the data packet generator 42 does not always create an entire data packet 43 new. Rather, the data packet generator 42, as shown in Fig. 3 is shown, only be used when a new data packet 43 must be created that has changed from the previously generated data packet 43, preferably fundamentally. This can be checked, for example, on the basis of the information values of particular information variables 49. If, for example, the vehicle identification 47 changes, a fundamental change can be assumed, which means a complete recreation of a data packet 43 with the data packet generation device 42, as described in US Pat Fig. 3 is displayed triggers.
  • a data packet 43 is to be created based on an already existing data packet 43 by a suitable, preferably iterative, modification of the existing data packet 43.
  • an already created data packet 43 ' is stored in a memory 51 as a reference data packet.
  • various reference data packets can also be stored in the memory 51, in which case depending on the Car2X message 17 to be sent, a corresponding reference data packet in the generation of a data packet 43 to be created is used. If the creation of a new data packet 43 with a new Car2X message 17 is triggered by the trigger signal 48, then the information values of the individual information states 50 can be compared with the information values of the information variables 49 of the Car2X message 17 stored in the memory 51 as data packet 43 '.
  • Fig. 4 changes between the first data packet 43, which may be stored as a reference data packet 43 'in the memory 51, and the second data packet 43 only the information variable 49 for the description of the geographical location 12 and the information variable 49 for the description of the time stamp 41 (gray background).
  • a corresponding section 52 with the information variables 49 in the memory 51 can then be updated based on the available information states 50 of the corresponding information sources.
  • the information values for the information variables 49 are then extracted from the information states 50 of the corresponding information sources for the information values.
  • the geographic location information source 12 is the GNSS receiver 11 while the time stamp information source 41 is the timer 40.
  • the information values can be standardized before depositing according to predetermined rules 53 so that they are also understood by all nodes 3, 5 in the Car2X network 1.
  • the third data packet 43 would be in Fig. 4 completely re-coded, because a change in the report signal 38 could occur here, for example, to report an intervention of the EBA 24 and / or the vehicle dynamics control 25, which could have reacted, for example, shortly before the accident 10.
  • the memory 51 and the message generator 42 are in Fig. 5 for the sake of clarity to a higher-level message generating device 42 'summarized.

Claims (8)

  1. Procédé destiné à générer un paquet de données à transmettre (43) dans un réseau ad hoc de véhicules (1) comprenant un message à transmettre (17) dans le réseau ad hoc de véhicules (1), comprenant :
    - l'appel d'un paquet de données existant (43') comprenant un message déjà empaqueté dans le paquet de données existant (43'),
    - la détermination d'un segment (52) dans le paquet de données existant (43'), par lequel le message déjà empaqueté et le message à transmettre (17) diffèrent l'un de l'autre, et
    - l'échange du segment (56) déterminé dans le paquet de données existant (43'), pour transformer le message déjà empaqueté en message à transmettre (17) et pour générer le paquet de données à transmettre (43), caractérisé en ce que le segment (52) déterminé dans le paquet de données existant (43') n'est échangé que si le segment (52) prédéterminé remplit une condition prédéterminée, et l'empaquetage de la totalité du message à transmettre (17) pour obtenir le paquet de données à transmettre (43) si le segment (52) prédéterminé ne remplit pas la condition prédéterminée.
  2. Procédé selon la revendication 1, dans lequel le message empaqueté et le message à transmettre (17) contiennent des variables d'information (49) pour la qualification d'informations, lesdites variables d'information étant agencées dans le paquet de données (43, 43') en une structure prédéterminée et qualifiant les informations avec des valeurs d'information (10, 12, 41, 49).
  3. Procédé selon la revendication 2, dans lequel le segment (52) à échanger dans le paquet existant (43') comprend des variables d'information (49), par lesquelles les valeurs d'information (12, 41) du message à transmettre (17) diffèrent des valeurs d'information (12, 41) du message déjà empaqueté.
  4. Procédé selon la revendication 3, comprenant :
    - l'échange du segment (52) déterminé dans le paquet de données existant (43') sur la base des valeurs d'information (12, 41) du message à transmettre (17) pour les variables d'information (49) dans le segment (52) à échanger.
  5. Procédé selon la revendication 4, dans lequel, pour l'échange du segment (52) déterminé dans le paquet de données existant (43'), les valeurs d'information (12, 41) du message à transmettre (17) pour les variables d'information (49) dans le segment (52) à échanger sont transformées, en particulier codées, sur la base d'une prescription (53) prédéterminée.
  6. Procédé selon la revendication 1, dans lequel la condition prédéterminée dépend de l'information qualifiée au moyen des variables d'information (49).
  7. Dispositif (42') destiné à exécuter un procédé selon l'une quelconque des revendications précédentes.
  8. Émetteur (16) pour un véhicule (3) destiné à émettre un signal de transmission (18), qui est conçu pour envoyer des messages (17) avec des données de position (12) à des participants (3, 5, 8, 52) d'un réseau ad hoc de véhicules (1) dans des paquets de données (43), comprenant :
    - un dispositif (42') selon la revendication 7 destiné à générer au moins un paquet de données (43) à partir d'un message (17) à envoyer,
    - un dispositif de transmission (44) destiné à envoyer le paquet de données (43) dans le signal de transmission (18) par le biais d'une antenne (19).
EP14755080.0A 2013-08-22 2014-08-22 Génération itérative de paquets de données dans un réseau car2x Active EP3036885B1 (fr)

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DE102013216625 2013-08-22
PCT/EP2014/067943 WO2015025050A1 (fr) 2013-08-22 2014-08-22 Génération itérative de paquets de données dans un réseau car2x

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EP3036885B1 true EP3036885B1 (fr) 2019-07-24

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US11181929B2 (en) 2018-07-31 2021-11-23 Honda Motor Co., Ltd. System and method for shared autonomy through cooperative sensing

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WO2015025050A1 (fr) 2015-02-26
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